阅读说明：本技术 一种全伺服软抽包装机控制方法 (Control method of full-servo soft-drawing packaging machine ) 是由 宋鹏 于利民 朱宇迪 于 2021-02-04 设计创作，主要内容包括：本申请涉及包装机械技术领域,公开了一种全伺服软抽包装机的控制方法,取消了包装机原有的机械凸轮结构,包装机中的运动部件通过单独的伺服驱动单元进行控制,通过伺服控制机构的应用,实现了对各个运动部件的精确控制,当包装机中的某个运动部件出现问题时,与其相关联的前后部件能够自动调整运动状态,使前后运动相匹配,包装机仍然可以正常运转,提高了包装机的包装效率。(The application relates to the technical field of packaging machinery, and discloses a control method of a full-servo soft drawing packaging machine, which cancels the original mechanical cam structure of the packaging machine, moving parts in the packaging machine are controlled by an independent servo driving unit, and the accurate control of each moving part is realized by the application of a servo control mechanism.)

1. A control method of a full-servo soft drawing packaging machine is characterized in that: when the system is started, a starting signal is sent to the control unit, the control unit sends a command to the feeding servo driver, the feeding motor starts to move at a constant speed under the action of the feeding servo driver, the material arranging motor starts to move along with the feeding motor under the driving of the material arranging servo driver, and the paper pushing rod motor, the paper supporting motor, the forward moving motor, the swinging ironing lifting motor, the sealing motor, the plate turning motor, the bag pressing motor, the edge guiding motor and the lower paper inserting motor start to work cooperatively according to the data of the electronic cam; when the material arranging servo driver drives the material arranging motor to continuously convey N materials to the feeding belt, the materials on the material arranging belt are detected through the material arranging sensor, the corresponding feeding position of the materials at the moment is obtained through calculation, and the material arranging servo driver adjusts the movement speed of the material arranging motor according to the feeding position of the materials.

2. The control method of the full servo soft drawing packaging machine according to claim 1, wherein: when the feeding sensor detects that the feeding belt has materials, the feeding sensor informs the control unit of detection data, the control unit sends a command to the film drawing servo driver according to the data of the electronic cam, the film drawing motor is driven to start to move, and therefore the packaging film arranged on the film drawing mechanism is drawn to realize film supply.

3. The control method of the full servo soft drawing packaging machine according to claim 2, wherein: when the film pulling motor is started, the film releasing servo driver drives the film releasing motor to move along with the film pulling motor according to the speed parameter of the film pulling motor and the current film storage height data detected by the sensor, so that the film releasing speed is matched with the film pulling speed.

4. The control method of the full servo soft drawing packaging machine according to claim 1, wherein: the material is sent to the paper supporting mechanism through the feeding motor, the paper supporting motor lifts the material to a paper pushing rod channel under the driving of the paper supporting servo driver, the paper pushing rod servo driver drives the paper pushing rod motor to move, the paper pushing rod pushes the material to be transmitted forwards, meanwhile, the forward moving motor starts to move under the driving of the forward moving servo driver, the forward moving motor and the paper pushing rod motor transmit the material forwards to be in contact with a packaging film, the packaging film is pulled to a set film length, when the paper pushing rod pushes the material to be in contact with the packaging film at the moment, the cutter motor starts to move under the action of the cutter servo driver, the cutter cuts off the packaging film, at the moment, the easy tearing mechanism starts to move under the driving of the easy tearing servo driver, broken lines are punched on the packaging film, and the edge guide motor starts to move under the driving of the edge guide servo driver to enable the left side and the right side of the packaging film to bend.

5. The control method of the full servo soft drawing packaging machine according to claim 1, wherein: when a paper pushing rod motor conveys materials from an inlet of a paper pushing rod channel to an outlet of the paper pushing rod channel, a paper pressing motor starts to act under the driving of a paper pressing servo driver, a paper pressing mechanism moves downwards and is used on the materials, a turning plate servo driver drives a turning plate motor to move, a turning plate mechanism swings and turns up, a lower paper inserting servo driver drives a lower paper inserting motor to move, a lower paper inserting mechanism moves upwards and inserts a lower sealing film upwards, a swinging and ironing lifting motor starts to move under the driving of a swinging and ironing lifting servo driver at the moment, the swinging and ironing lifting mechanism moves downwards, after the swinging and ironing lifting mechanism descends to a proper position, a sealing motor starts to act under the action of a sealing servo driver, a sealing mechanism swings and irons towards an inner side middle sealing position, after the ironing and sealing are finished, the paper pressing mechanism lifts upwards and the middle conveying motor starts to act under the action of a middle conveying servo driver to convey the materials to a discharging position, the material is sent to ejection of compact department and is scalded about, and the side scalds the back material packing and accomplishes about.

6. The control method of the full servo soft drawing packaging machine according to claim 1, wherein: the control unit is respectively connected with the edge guide servo driver, the middle conveying servo driver, the plate turnover servo driver, the packet pressing servo driver, the lower paper inserting servo driver, the swinging ironing lifting servo driver, the sealing servo driver, the film pulling servo driver, the cutter servo driver, the easy-to-tear servo driver, the forward moving servo driver, the paper pushing rod servo driver, the paper supporting servo driver, the film placing servo driver, the feeding servo driver and the material arranging servo driver through a data bus to realize information interaction; and the human-computer interface is connected with an information control interface of the control unit through a data connecting line, and the control unit respectively controls the drivers to drive the corresponding motors to start to act according to the received information.

7. The control method of the full servo soft drawing packaging machine according to claim 1, wherein: if N materials continuously conveyed by the material arranging belt are equally spaced, the material arranging servo driver drives the material arranging motor to move at a constant speed; if N materials continuously conveyed by the material arranging belt are not at equal intervals, whether the materials need to be accelerated to be conveyed to the feeding belt or decelerated to be conveyed to the feeding belt is judged according to the feeding position of the materials on the material arranging belt.

8. The control method of the full servo soft drawing packaging machine according to claim 1, wherein: the method specifically comprises the following steps: starting up and electrifying the system, writing synchronous data, material arranging speed parameters and packaging film length of each electronic cam through a human-computer interface, setting each servo origin, and returning the system to zero; and sending a system zero returning command to the control unit through the human-computer interface, sending a zero returning command to each servo driver by the control unit in a bus mode, and receiving the zero returning command and executing zero returning operation by the servo drivers.

9. The control method of the full servo soft drawing packaging machine according to claim 1 or 7, wherein: the N materials are N materials between the material sorting belt and the material feeding belt.

10. The control method of the full servo soft drawing packaging machine according to claim 1, wherein: the control unit is an industrial personal computer or a PLC.

Technical Field

The application relates to the technical field of packaging machinery, in particular to a control method of a full-servo soft-pumping packaging machine.

Background

The packaging machine replaces the traditional manual packaging and has the characteristics of high speed and neat and attractive package, and the packaging materials of the packaging machine can be candies, biscuits, tissues and the like. Wherein, the paper handkerchief packagine machine mainly used is the cover bag packing of the soft paper handkerchief of taking out of various specifications, and paper handkerchief packagine machine can distinguish from the major classification and be: a roll paper packaging machine, a tissue paper packaging machine, a three-dimensional tissue paper packaging machine, a wallet-type tissue paper packaging machine and the like.

Traditional vertical packagine machine realizes the packing through one or more cam structure, because the transmission characteristics of mechanical cam cause the running noise big, vibrate big and pack inefficiency to still have machining and install complicated scheduling problem. With the increasingly competitive industry and the increasing cost of manpower, the requirements on the automation degree of the packaging equipment and the packaging speed are higher and higher. To realize high-speed packaging, the corresponding and processing speed requirements of the whole control system are more strict, the requirements are difficult to meet by a traditional controller, and the mechanical cam adopted in the past must be replaced by a servo electronic cam.

For example, in the prior art, the publication number is CN205972059U, the publication date is 2017, 02, 22, and the invention discloses a utility model patent named as "three-servo packaging machine control system", and the technical scheme is as follows: including controller, surely seal sword servo driver, feeding servo driver, send membrane servo driver, surely seal sword motor, feeding motor, send membrane motor and detection sensor, through PLC controller through the cam curve of predesigned respectively control surely seal sword servo driver, feeding servo driver and send membrane servo driver, realized a key start-up, easy and simple to handle, and can realize the automation in the operation air defense, prevent cutting, prevent continuous material, really realize the full automatization. The utility model belongs to the industry of food packaging, and the packaging equipment is controlled by the main application to package food into bags.

In the prior art, the independent PLC is adopted to respectively and uniformly control the sealing knife servo driver, the feeding servo driver and the film feeding servo driver, so that partial servo control of the packaging machine is realized, but the device still has the problem of low packaging efficiency, and when a certain mechanical cam structure in the packaging machine has a problem, the motion state of the front part and the rear part related to the mechanical cam structure cannot be automatically adjusted, so that the packaging machine cannot normally operate, and the efficiency of the packaging machine is influenced.

Disclosure of Invention

In order to solve the problems and the defects existing in the prior art, the application provides a full servo control method suitable for a soft drawing packaging machine, the original mechanical cam structure of the packaging machine is cancelled, moving parts in the packaging machine are controlled through an independent servo driving unit, the precise control of each moving part is realized through the application of a full servo control mechanism, when a certain moving part in the packaging machine has a problem, the front part and the rear part which are related to the moving part can automatically adjust the corresponding moving state, the movement of the front part and the rear part are matched, the packaging machine can still normally operate, and the packaging efficiency of the packaging machine is improved.

In order to achieve the above object, the technical solution of the present application is as follows:

a control method of a full-servo soft pumping packing machine is characterized in that when a system is started, a starting signal is sent to a control unit, the control unit sends a command to a feeding servo driver, a feeding motor starts to move at a constant speed under the action of the feeding servo driver, a material arranging motor starts to move along with the feeding motor under the driving of the material arranging servo driver, and a paper pushing rod motor, a paper supporting motor, a forward moving motor, a swinging and ironing lifting motor, a sealing motor, a plate turning motor, a bag pressing motor, an edge guiding motor and a lower paper inserting motor start to work cooperatively according to the data of an electronic cam; when the material arranging servo driver drives the material arranging motor to continuously convey N materials to the feeding belt, the materials on the material arranging belt are detected through the material arranging sensor, the corresponding feeding position of the materials at the moment is obtained through calculation, and the material arranging servo driver adjusts the movement speed of the material arranging motor according to the feeding position of the materials.

When the feeding sensor detects that the feeding belt has materials, the feeding sensor informs the control unit of detection data, the control unit sends a command to the film drawing servo driver according to the data of the electronic cam, the film drawing motor is driven to start to move, and therefore the packaging film arranged on the film drawing mechanism is drawn to realize film supply.

When the film pulling motor is started, the film releasing servo driver drives the film releasing motor to move along with the film pulling motor according to the speed parameter of the film pulling motor and the current film storage height data detected by the sensor, so that the film releasing speed is matched with the film pulling speed.

The material is sent to the paper supporting mechanism through the feeding motor, the paper supporting motor lifts the material to a paper pushing rod channel under the driving of the paper supporting servo driver, the paper pushing rod servo driver drives the paper pushing rod motor to move, the paper pushing rod pushes the material to be transmitted forwards, meanwhile, the forward moving motor starts to move under the driving of the forward moving servo driver, the forward moving motor and the paper pushing rod motor transmit the material forwards to be in contact with a packaging film, the packaging film is pulled to a set film length, when the paper pushing rod pushes the material to be in contact with the packaging film at the moment, the cutter motor starts to move under the action of the cutter servo driver, the cutter cuts off the packaging film, at the moment, the easy tearing mechanism starts to move under the driving of the easy tearing servo driver, broken lines are punched on the packaging film, and the edge guide motor starts to move under the driving of the edge guide servo driver to enable the left side and the right side of the packaging film to bend.

When a paper pushing rod motor conveys materials from an inlet of a paper pushing rod channel to an outlet of the paper pushing rod channel, a paper pressing motor starts to act under the driving of a paper pressing servo driver, a paper pressing mechanism moves downwards and is used on the materials, a turning plate servo driver drives a turning plate motor to move, a turning plate mechanism swings and turns up, a lower paper inserting servo driver drives a lower paper inserting motor to move, a lower paper inserting mechanism moves upwards and inserts a lower sealing film upwards, a swinging and ironing lifting motor starts to move under the driving of a swinging and ironing lifting servo driver at the moment, the swinging and ironing lifting mechanism moves downwards, after the swinging and ironing lifting mechanism descends to a proper position, a sealing motor starts to act under the action of a sealing servo driver, a sealing mechanism swings and irons towards an inner side middle sealing position, after the ironing and sealing are finished, the paper pressing mechanism lifts upwards and the middle conveying motor starts to act under the action of a middle conveying servo driver to convey the materials to a discharging position, the material is sent to ejection of compact department and is scalded about, and the side scalds the back material packing and accomplishes about.

The control unit is respectively connected with the edge guide servo driver, the middle conveying servo driver, the plate turnover servo driver, the packet pressing servo driver, the lower paper inserting servo driver, the swinging ironing lifting servo driver, the sealing servo driver, the film pulling servo driver, the cutter servo driver, the easy-to-tear servo driver, the forward moving servo driver, the paper pushing rod servo driver, the paper supporting servo driver, the film placing servo driver, the feeding servo driver and the material arranging servo driver through a data bus to realize information interaction; and the human-computer interface is connected with an information control interface of the control unit through a data connecting line, and the control unit respectively controls the drivers to drive the corresponding motors to start to act according to the received information.

If N materials continuously conveyed by the material arranging belt are equally spaced, the material arranging servo driver drives the material arranging motor to move at a constant speed; if N materials continuously conveyed by the material arranging belt are not at equal intervals, whether the materials need to be accelerated to be conveyed to the feeding belt or decelerated to be conveyed to the feeding belt is judged according to the feeding position of the materials on the material arranging belt.

The method specifically comprises the following steps: starting up and electrifying the system, writing synchronous data, material arranging speed parameters and packaging film length of each electronic cam through a human-computer interface, setting each servo origin, and returning the system to zero; and sending a system zero returning command to the control unit through the human-computer interface, sending a zero returning command to each servo driver by the control unit in a bus mode, and receiving the zero returning command and executing zero returning operation by the servo drivers.

The N materials are N materials between the material sorting belt and the material feeding belt.

The control unit is an industrial personal computer or a PLC.

The beneficial effect of this application:

(1) the application has cancelled all original mechanical cam structures of packagine machine, and every moving part in the packagine machine is controlled through solitary servo drive unit, and through full servo control mechanism's application, realized the accurate control to each moving part, when certain moving part in the packagine machine goes wrong, the corresponding motion state of part can automatic adjustment around rather than being correlated with, make the motion phase-match of part around, packagine machine still can normal operating, has improved packagine machine's packing efficiency.

(2) In this application, packagine machine's reason material part adopts servo control, thereby can change the material feeding speed according to the material position relation automatic adjustment reason material motor on the material belt, finally can guarantee that every material is equidistant to send to the feeding belt on, and every material is certain apart from the pole position of dialling on the feeding belt. This application adopts the converter with current packagine machine reason material part to compare, and servo control has improved the positioning accuracy of material and reason material efficiency of reason material mechanism is also higher.

(3) Various parameters are directly adjusted on a human-computer interface, real intellectualization and automation are realized, one-key starting is realized, and the operation is simple.

(4) This application has cancelled original packagine machine's mechanical cam structure through full servo's application for packagine machine's inner space becomes more spacious, makes things convenient for daily maintenance of equipment and overhauls.

(5) In this application, servo actuating mechanism carries out digital control through servo motor and realizes motion control, uses the cam mechanism of same motion curve and servo actuating mechanism to produce different motion power effect, and servo drive control has powerful adaptability and flexibility.

Detailed Description

The technical solutions for achieving the objects of the present invention are further described below by using several specific examples, and it should be noted that the technical solutions claimed in the present application include, but are not limited to, the following examples.

As a preferred embodiment of the present application, this embodiment discloses a control method for a full-servo soft-drawing packaging machine, which comprises using a control unit to respectively control a leading edge servo driver, a middle feeding servo driver, a flap servo driver, a bag pressing servo driver, a lower paper inserting servo driver, a swinging and ironing lifting servo driver, a sealing servo driver, a film pulling servo driver, a cutter servo driver, an easy-tearing servo driver, a forward moving servo driver, a paper pushing rod servo driver, a paper supporting servo driver, a film releasing servo driver, a feeding servo driver and a material arranging servo driver in a bus manner, wherein the control unit is respectively connected with the servo drivers through data buses, and a human-computer interface is connected with an information control interface of the control unit through data connection lines; when the system operates, the control unit respectively issues control commands to the guide edge servo driver, the middle sending servo driver, the turning plate servo driver, the bag pressing servo driver, the lower paper inserting servo driver, the swinging and ironing lifting servo driver, the sealing servo driver, the film pulling servo driver, the cutter servo driver, the easy-to-tear opening servo driver, the forward moving servo driver, the paper pushing rod servo driver, the paper supporting servo driver, the film releasing servo driver, the feeding servo driver and the material arranging servo driver according to the received information, and the servo drivers respectively drive the corresponding motors to start to operate.

The specific operation is as follows:

firstly, starting a system and electrifying, writing synchronous data, material management parameters and packaging film length of each electronic cam through a human-computer interface, setting each servo origin, and returning the system to zero; and sending a system zero-returning command to the control unit through the human-computer interface, sending a zero-returning command to each servo driver by the control unit in a bus mode, and receiving the zero-returning command by the servo driver and executing corresponding zero-returning operation.

Then the discharging tail frame is started, a starting signal of the discharging tail frame is sent to the control unit, and the control unit sends a command to start the discharging motor. When the system is started, a starting signal is sent to the control unit, the control unit sends a command to the feeding servo driver, the feeding motor starts to move at a constant speed under the action of the feeding servo driver, the material arranging motor starts to move along with the feeding motor under the driving of the material arranging servo driver, the materials are guaranteed to be stably conveyed to the upper surface of the feeding belt from the material arranging belt, and the paper pushing rod motor, the paper supporting motor, the forward moving motor, the swinging and ironing lifting motor, the sealing motor, the plate turning motor, the bag pressing motor, the edge guiding motor and the lower paper inserting motor start to work cooperatively according to the data of the electronic cam; when the material arranging servo driver drives the material arranging motor to continuously convey N materials to the feeding belt, the materials on the material arranging belt are detected through the material arranging sensor, the corresponding feeding position of the materials at the moment is obtained through calculation, and the material arranging servo driver adjusts the movement speed of the material arranging motor according to the feeding position of the materials.

The system is provided with a material sorting angle parameter and a compensation coefficient, and the corresponding feeding position of the material on the material sorting belt at the moment is obtained through calculation according to the detection data of the material sorting sensor, the front feeding servo position, the material sorting angle parameter and the compensation coefficient.

When the feeding sensor detects that the feeding belt has materials, the feeding sensor informs the control unit of a detection signal, the control unit sends a command to the film drawing servo driver according to the data of the electronic cam, the film drawing motor is driven to start to move, and the packaging film arranged on the film drawing mechanism is drawn to realize film supply. The film drawing mechanism is provided with a film drawing sensor in front of the film drawing mechanism and used for detecting color codes between films of the film drawing mechanism, the film drawing sensor can detect the color code of the next film in the film drawing process, and the film drawing is stopped by calculation at the moment.

When the film pulling motor is started, the film releasing servo driver drives the film releasing motor to move along with the film pulling motor according to the speed parameter of the film pulling motor and the current film storage height data detected by the sensor, so that the film releasing speed is matched with the film pulling speed, the film releasing servo is stable, and the film pulling servo resistance is reduced.

The material is sent to the paper supporting mechanism through the feeding motor, the paper supporting motor lifts the material to a paper pushing rod channel under the driving of the paper supporting servo driver, the paper pushing rod servo driver drives the paper pushing rod motor to move, meanwhile, the forward moving motor starts to move under the driving of the forward moving servo driver, the forward moving motor and the paper pushing rod motor transmit the material forward to be in contact with a packaging film, the packaging film is pulled to a set film length, when the paper pushing rod pushes the material to be in contact with the packaging film in the previous moment, the cutter motor starts to move under the action of the cutter servo driver, the cutter cuts off the packaging film, the easy-tearing mechanism starts to move under the driving of the easy-tearing servo driver at the moment, a circle of rotation is used for punching a dotted line on the packaging film, and the edge guiding motor starts to move under the driving of the edge guiding servo driver to enable the left side and the right side of the packaging film.

When a paper pushing rod motor conveys materials from an inlet of a paper pushing rod channel to an outlet of the paper pushing rod channel, a paper pressing motor starts to act under the driving of a paper pressing servo driver, a paper pressing mechanism presses the materials downwards, a turning plate servo driver drives a turning plate motor to move, a turning plate mechanism swings and turns up, a lower paper inserting servo driver drives a lower paper inserting motor to move, a lower paper inserting mechanism moves upwards to insert a lower sealing film upwards, a swinging and ironing lifting motor starts to move under the driving of a swinging and ironing lifting servo driver at the moment, the swinging and ironing lifting mechanism moves downwards, the sealing motor starts to act under the action of a sealing servo driver after the swinging and ironing lifting mechanism descends to a proper position, the sealing mechanism swings and irons towards an inner side middle sealing position, the paper pressing mechanism lifts upwards under the action of the paper pressing motor and the middle power transmission servo driver starts to act under the action of a middle power transmission servo driver to transmit the materials to a discharging position after the ironing is finished, the material is sent to ejection of compact department and is scalded about, and the side scalds the back material packing and accomplishes about.

In this embodiment, the material arranging sensor is arranged in front of the feeding belt and used for detecting a feeding position corresponding to a material on the material arranging belt and informing the control unit of a detection signal, and the control unit issues a corresponding control command to the material arranging servo driver according to the detection signal; if N materials continuously conveyed by the material arranging belt are at equal intervals, the material arranging servo driver drives the material arranging motor to move at a constant speed, and if the N materials continuously conveyed by the material arranging belt are not at equal intervals, whether the materials need to be accelerated to be conveyed onto the feeding belt or decelerated to be conveyed onto the feeding belt is judged according to the feeding position of the materials.

In the embodiment, the feeding sensor is arranged in front of the film drawing mechanism and used for detecting whether a material is on the feeding belt or not and informing the detection data to the control unit; when there is the material on the feeding belt, draw the membrane servo driver drive and draw the action of membrane motor, thereby will draw the packaging film pulling that sets up on the membrane mechanism and realize supplying the membrane.

In this embodiment, the N materials are N materials between the sorting belt and the feeding belt.

In this embodiment, the control unit is an industrial personal computer or a PLC.

The foregoing is directed to embodiments of the present invention, which are not limited thereto, and any simple modifications and equivalents thereof according to the technical spirit of the present invention may be made within the scope of the present invention.